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131 lines
3.3 KiB
C
131 lines
3.3 KiB
C
/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @addtogroup PIOS_PWM PWM Input Functions
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* @brief Code to measure with PWM input
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* @{
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*
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* @file pios_pwm.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief PWM Input functions (STM32 dependent)
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "pios.h"
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#ifdef PIOS_INCLUDE_RTC
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#include <pios_rtc_priv.h>
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#ifndef PIOS_RTC_PRESCALER
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#define PIOS_RTC_PRESCALER 100
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#endif
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struct rtc_callback_entry {
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void (*fn)(uint32_t);
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uint32_t data;
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};
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#define PIOS_RTC_MAX_CALLBACKS 3
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struct rtc_callback_entry rtc_callback_list[PIOS_RTC_MAX_CALLBACKS];
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static uint8_t rtc_callback_next = 0;
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void PIOS_RTC_Init(const struct pios_rtc_cfg * cfg)
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{
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_BKP | RCC_APB1Periph_PWR,
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ENABLE);
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PWR_BackupAccessCmd(ENABLE);
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RCC_RTCCLKConfig(cfg->clksrc);
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RCC_RTCCLKCmd(ENABLE);
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RTC_WaitForLastTask();
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RTC_WaitForSynchro();
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RTC_WaitForLastTask();
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/* Configure and enable the RTC Second interrupt */
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NVIC_Init(&cfg->irq.init);
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RTC_ITConfig( RTC_IT_SEC, ENABLE );
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RTC_WaitForLastTask();
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RTC_SetPrescaler(cfg->prescaler);
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RTC_WaitForLastTask();
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RTC_SetCounter(0);
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RTC_WaitForLastTask();
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}
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uint32_t PIOS_RTC_Counter()
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{
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return RTC_GetCounter();
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}
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/* FIXME: This shouldn't use hard-coded clock rates, dividers or prescalers.
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* Should get these from the cfg struct passed to init.
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*/
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float PIOS_RTC_Rate()
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{
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return (float) (8e6 / 128) / (1 + PIOS_RTC_PRESCALER);
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}
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float PIOS_RTC_MsPerTick()
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{
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return 1000.0f / PIOS_RTC_Rate();
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}
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/* TODO: This needs a mutex around rtc_callbacks[] */
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bool PIOS_RTC_RegisterTickCallback(void (*fn)(uint32_t id), uint32_t data)
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{
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struct rtc_callback_entry * cb;
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if (rtc_callback_next >= PIOS_RTC_MAX_CALLBACKS) {
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return false;
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}
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cb = &rtc_callback_list[rtc_callback_next++];
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cb->fn = fn;
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cb->data = data;
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return true;
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}
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void PIOS_RTC_irq_handler (void)
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{
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if (RTC_GetITStatus(RTC_IT_SEC))
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{
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/* Call all registered callbacks */
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for (uint8_t i = 0; i < rtc_callback_next; i++) {
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struct rtc_callback_entry * cb = &rtc_callback_list[i];
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if (cb->fn) {
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(cb->fn)(cb->data);
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}
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}
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/* Wait until last write operation on RTC registers has finished */
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RTC_WaitForLastTask();
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/* Clear the RTC Second interrupt */
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RTC_ClearITPendingBit(RTC_IT_SEC);
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}
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}
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#endif /* PIOS_INCLUDE_RTC */
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/**
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* @}
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* @}
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*/
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